How to get obstacle xyz location from Pointcloud2 data

asked 2021-01-17 20:44:13 -0500

I'm simulating in Gazebo with a Kinect and a few objects. I processed the array in the data field of camera/depth/points using a PCL subscriber. However, a huge number of points were printed out (I assume that's the location of ALL point clouds?) How do I get only the point cloud points (xyz location) representing where the obstacle is?

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